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SITL: switch to HIL_ACTUATOR_CONTROLS mavlink message & add pwm_out_sim support for 16 outputs

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Beat Küng
2016-09-01 16:34:46 +02:00
parent 41913c4a80
commit 010c9e937b
7 changed files with 179 additions and 25 deletions
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4
src/modules/mavlink/mavlink_main.cpp
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@@ -851,13 +851,13 @@ Mavlink::set_hil_enabled(bool hil_enabled)
/* enable HIL */
if (hil_enabled && !_hil_enabled) {
_hil_enabled = true;
configure_stream("HIL_CONTROLS", 200.0f);
configure_stream("HIL_ACTUATOR_CONTROLS", 200.0f);
}
/* disable HIL */
if (!hil_enabled && _hil_enabled) {
_hil_enabled = false;
configure_stream("HIL_CONTROLS", 0.0f);
configure_stream("HIL_ACTUATOR_CONTROLS", 0.0f);
} else {
ret = ERROR;